From d429cc3c900ff79b4f16cb6c73f81a9cc8558a4e Mon Sep 17 00:00:00 2001
From: firestar5683 <168790843+firestar5683@users.noreply.github.com>
Date: Thu, 22 Oct 2026 21:44:16 -0500
Subject: [PATCH] Verify Toyota angle factory and independent LTA health

---
 .../opendbc/safety/tests/test_toyota.py       | 26 +++++++++++++++++++
 openpilot/starpilot/aol/tests/test_toyota.py  | 15 ++++++++++-
 prebuilt.json                                 |  2 +-
 3 files changed, 41 insertions(+), 2 deletions(-)

diff --git a/opendbc_repo/opendbc/safety/tests/test_toyota.py b/opendbc_repo/opendbc/safety/tests/test_toyota.py
index 2ce72e105a..fad4c68cf0 100755
--- a/opendbc_repo/opendbc/safety/tests/test_toyota.py
+++ b/opendbc_repo/opendbc/safety/tests/test_toyota.py
@@ -743,3 +743,29 @@ class TestToyotaHighlanderAol(unittest.TestCase):
         self.assertEqual(self.safety.aol_get_permission_mask(), 0)
         self.physical()
         self.assertEqual(self.safety.aol_get_permission_mask(), 1)
+
+
+class TestToyotaLtaIndependentHealth(unittest.TestCase):
+  def test_lta_and_lka_must_both_be_healthy(self):
+    # Reuse the current library so instrumented CI observes these native branches.
+    from opendbc.safety.tests.test_toyota_eps8_sdsu import Physical
+    for word in (0x449, 0x649, 0x1449, 0x1649, 0x8449, 0x8649):
+      with self.subTest(word=word):
+        case = Physical(word)
+        try:
+          for _ in range(25):
+            case.tick(cruise=False)
+          for _ in range(25):
+            case.tick()
+          expected = 1 if word & 0x200 else 3
+          self.assertEqual(case.native.aol_get_permission_mask(), expected)
+          for lka, lta in [(1, fault) for fault in (0, 3, 9, 11, 17, 21, 25)] + [(9, 1)]:
+            frame = case.packer.make_can_msg('EPS_STATUS', 0, {'LKA_STATE': lka, 'LTA_STATE': lta})
+            address, data, bus = frame
+            case.native.safety_rx_hook(libsafety_py.make_CANPacket(address, bus, data))
+            self.assertEqual(case.native.aol_get_permission_mask(), 0)
+            case.tick(cruise=False)
+            case.tick()
+            self.assertEqual(case.native.aol_get_permission_mask(), expected)
+        finally:
+          case.close()
diff --git a/openpilot/starpilot/aol/tests/test_toyota.py b/openpilot/starpilot/aol/tests/test_toyota.py
index 2ecbeac7b6..eec7ef1392 100644
--- a/openpilot/starpilot/aol/tests/test_toyota.py
+++ b/openpilot/starpilot/aol/tests/test_toyota.py
@@ -201,10 +201,23 @@ class TestHighlanderAol(unittest.TestCase):
     bad.safetyConfigs[0].safetyParam ^= 0x4000
     self.assertFalse(qualified(bad))
     for car in (CAR.LEXUS_RC,
-                CAR.TOYOTA_RAV4_TSS2_2023, CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
+                CAR.TOYOTA_RAV4_PRIME, CAR.TOYOTA_SIENNA_4TH_GEN):
       cp = CarInterface.get_params(car, gen_empty_fingerprint(), [], True, False, False)
       self.assertFalse(qualified(cp))
 
+  def test_rav4_2023_angle_factory_and_exact_experience(self):
+    for alpha, word in ((False, 0x649), (True, 0x449)):
+      with self.subTest(alpha=alpha):
+        cp = CarInterface.get_params(CAR.TOYOTA_RAV4_TSS2_2023, gen_empty_fingerprint(), [], alpha, False, False)
+        self.assertEqual(cp.safetyConfigs[0].safetyParam, word)
+        self.assertEqual(cp.steerControlType, structs.CarParams.SteerControlType.angle)
+        self.assertTrue(qualified(cp))
+        cp.alternativeExperience |= policy_for(cp).alternative_experience_addition
+        self.assertEqual(cp.alternativeExperience, 32)
+        self.assertTrue(qualified(cp, marked_only=True))
+        cp.safetyConfigs[0].safetyParam ^= 1
+        self.assertFalse(qualified(cp, marked_only=True))
+
   def test_camera_torque_group_consumes_same_physical_sources(self):
     for car in CAMERA_TORQUE_CASES:
       for hybrid in (False, True):
diff --git a/prebuilt.json b/prebuilt.json
index 4ee991d357..e07cb46e97 100644
--- a/prebuilt.json
+++ b/prebuilt.json
@@ -1 +1 @@
-{"protected_inventory_sha256": "45fadb06ddb24275e842844570cc79915ee3ce86aff19eb9a4f10edc48bcd8ec", "schema_version": 1}
+{"protected_inventory_sha256": "9cedb8d6ba48ec4842fef2bba28a7982aa8418de8764490567b97f483b1fce56", "schema_version": 1}